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hexapod robot 2

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructuredprototype, and results validate the contact detection and control strategy for unexpected contacts in unstructuredCompared with the body orientation under the time-based control method regardless of terrain, the root

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructuredterrain    

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Transmission probability method based on triangle meshes for solving the unstructured geometry neutron

WU Hongchun, LIU Pingping, ZHOU Yongqiang, CAO Liangzhi

Frontiers in Energy 2007, Volume 1, Issue 2,   Pages 158-166 doi: 10.1007/s11708-007-0020-z

Abstract: The fuel assembly or core with unstructured geometry is frequently used in the advanced reactor.The triangle meshes are most useful for expressing the complicated unstructured geometry.Even though the finite element method and Monte-Carlo method are well suited for solving the unstructured

Keywords： unstructured geometry     assembly     transmission probability     TPM     rectangular    

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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0754-2

Abstract: Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSsThis study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability

Keywords： multirobot system     cooperative transportation     terrain adaptability     trajectory tracking     collaborative    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: The algorithm can efficiently run onboard and online by using terrain perception information to protecttripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrainBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmthe algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Discrete ordinates method for three-dimensional neutron transport equation based on unstructured-meshes

JU Haitao, WU Hongchun, YAO Dong, XIAN Chunyu

Frontiers in Energy 2008, Volume 2, Issue 2,   Pages 179-182 doi: 10.1007/s11708-008-0024-3

Abstract: A discrete ordinates method for a three-dimensional first-order neutron transport equation based on unstructured-meshesresults of some benchmark problems demonstrated that this method can solve neutron transport problems in unstructured-meshes
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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedFirst, a force-based terrain classification method is suggested.is developed to control the robot, and the parameters of active compliance control change with the terrain

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Strategic Study of CAE 2010, Volume 12, Issue 9,   Pages 78-83

Abstract: A single-beam swing ultrasonic micro-terrain detection method was proposed based on occurrence of cobalt

Keywords： cobalt-rich crusts     ultrasonic     micro-terrain     windowed     support vector    

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4,   Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrainwithout terrain information (due to the difficulty and cost of obtaining the terrain information inThen to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing footIt is able to run over upward and downward terrain with a height difference of 0.15 m, which shows the

Keywords： Underactuated running biped     Dynamic balance     Varied and unknown terrain    

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3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Strategic Study of CAE 2005, Volume 7, Issue 7,   Pages 65-70

Abstract:

Due to the extensive terrain region and complicated irregular topographic form, great difficultiesWith the development of modern hydropower engineering, 3D digital terrain models have obtained wide applications, such as dynamic fill and dig of terrain, site layout, cruising of general construction layout, andof digital terrain, multiresolution model, terrain simplification and terrain reality.requirements of 3D geological models, the NURBS technique was introduced to rebuild the simplified terrain

Keywords： digital terrain model     triangulated irregular network     level of details     NURBS technique     water resources    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Numerical simulation of air flow field in high-pressure fan with splitter blades

LI Jianfeng, LU Junfu, ZHANG Hai, LIU Qing, YUE Guangxi

Frontiers in Energy 2008, Volume 2, Issue 4,   Pages 438-442 doi: 10.1007/s11708-008-0085-3

Abstract: The standard - turbulent model and unstructured grids were used.

Keywords： splitter     numerical simulation     presence     unstructured     operational    

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Wind tunnel test study on the wind pressure coefficient of claddings of high-rise buildings

Yong QUAN, Yi LIANG, Fei WANG, Ming GU

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 4,   Pages 518-524 doi: 10.1007/s11709-011-0128-4

Abstract: coefficients (MUWPCs) on various regions of building surfaces and the influence of the side ratio and the terrainIn addition, no unique pattern was found for the effect of the terrain category on the MUWPCs.

Keywords： side ratio     area-averaged pressure coefficients     cladding     terrain category    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrainConsequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain

Keywords： robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular terrain    

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Two dimensional value simulation of shallow water equation

Xiang Bo,Mi Xiao,Ji Changming,Luo Qingsong

Strategic Study of CAE 2008, Volume 10, Issue 7,   Pages 118-124

Abstract:

The unstructured triangular mesh adapts to complex irregular boundary.Based

Keywords： shallow water equation     finite volume method     unstructured mesh     dam-break    

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3D Modeling and Visualization of Virtual Construction Grou p

Zhang Zhengfeng,Fu Jinqiang,Zhang Fayu

Strategic Study of CAE 2007, Volume 9, Issue 5,   Pages 53-56

Abstract:

3D modeling methods of terrain,  city structure,  highway and Taking into account the matching of 3D object with terrain model,  the visualization processes

Keywords： virtual construction group     3D modeling     visualization     terrain match    

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Title Author Date Type Operation

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

Transmission probability method based on triangle meshes for solving the unstructured geometry neutron

WU Hongchun, LIU Pingping, ZHOU Yongqiang, CAO Liangzhi

Journal Article

Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Discrete ordinates method for three-dimensional neutron transport equation based on unstructured-meshes

JU Haitao, WU Hongchun, YAO Dong, XIAN Chunyu

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Journal Article

Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Journal Article

3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

Numerical simulation of air flow field in high-pressure fan with splitter blades

LI Jianfeng, LU Junfu, ZHANG Hai, LIU Qing, YUE Guangxi

Journal Article

Wind tunnel test study on the wind pressure coefficient of claddings of high-rise buildings

Yong QUAN, Yi LIANG, Fei WANG, Ming GU

Journal Article

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

Two dimensional value simulation of shallow water equation

Xiang Bo,Mi Xiao,Ji Changming,Luo Qingsong

Journal Article

3D Modeling and Visualization of Virtual Construction Grou p

Zhang Zhengfeng,Fu Jinqiang,Zhang Fayu

Journal Article